Omron OMNUC W R88A-NCW152-DRT, Руководство пользователя

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10 Appendix
10.2.8 Servo Driver Parameter Object (0x66)
10-20
10
10.2.8 Servo Driver Parameter Object (0x66)
Class and instances of the Servo Driver Parameter Object (0x66) are shown below.
„ Class
• Attributes: None supported
• Services: None supported
„ Instances
Attributes (Instance #1: Explicit Message)
No. Access Name Data Type Description Setting
Range
Default
Setting
10
Get/Set Function Selection
Basic Switch UINT Sets function selection basic switches.
−
0010
11
Get/Set Function Selection
Application
Switch 1 UINT Sets function selection application
switches 1.
−
1002
12
Get/Set Function Selection
Application
Switch 2 UINT Sets function selection application
switches 2.
−
0000
13
Get/Set Function Selection
Application
Switch 3 UINT Sets function selection application
switches 3.
−
0002
14
Get/Set Not Used UINT Do not change the setting.
−
0000
15
Get/Set Not Used UINT Not used
−
0000
50
Get/Set Speed Loop
Gain UINT Sets the speed loop gain.
Unit: Hz 1 to 2000 80
51
Get/Set Speed Loop Integra-
tion Constant UINT Sets the speed loop integration time
constant.
Unit: 0.01ms 15 to 51200 2000
52
Get/Set Position Loop
Gain UINT Sets the position loop gain.
Unit: 1/s 1 to 2000 40
53
Get/Set Inertia Ratio UINT Sets the inertia ratio.
Unit: % 0 to 10000 300
54
Get/Set Speed Loop Gain 2 UINT Sets the speed loop gain 2.
Unit: Hz 1 to 2000 80
55
Get/Set Speed Loop
Integration
Constant 2 UINT Sets the speed loop integration constant
2.
Unit: 0.01ms 15 to 51200 2000
56
Get/Set Position Loop
Gain 2 UINT Sets the position loop gain 2.
Unit: 1/s 1 to 2000 40
57
Get/Set Bias Rotational
Speed UINT Sets the bias rotational speed.
Unit: r/min 0 to 450 0
58
Get/Set Bias Addition Band UINT Sets the bias addition band.
Unit: command unit 0 to 250 7
59
Get/Set Feed-forward
Amount UINT Sets the feed-forward amount.
Unit: % 0 to 100 0